├── .gitignore ├── README.md ├── img ├── control_panel.png ├── indoor.gif ├── matterport.gif ├── method.png └── ps3_controller.jpg └── src ├── CMakeLists.txt ├── boundary_handler ├── CMakeLists.txt ├── config │ └── default.yaml ├── include │ └── boundary_handler │ │ ├── graph_extractor.h │ │ ├── intersection.h │ │ └── point_struct.h ├── launch │ └── boundary_handler.launch ├── package.xml ├── rviz │ └── default.rviz └── src │ └── graph_extractor.cpp ├── far_planner ├── CMakeLists.txt ├── config │ ├── default.yaml │ └── matterport.yaml ├── data │ ├── boundary.ply │ ├── boundary_graph.vgh │ ├── indoor.vgh │ └── trajectory.txt ├── include │ └── far_planner │ │ ├── contour_detector.h │ │ ├── contour_graph.h │ │ ├── dynamic_graph.h │ │ ├── far_planner.h │ │ ├── graph_msger.h │ │ ├── graph_planner.h │ │ ├── grid.h │ │ ├── intersection.h │ │ ├── map_handler.h │ │ ├── node_struct.h │ │ ├── planner_visualizer.h │ │ ├── point_struct.h │ │ ├── scan_handler.h │ │ ├── terrain_planner.h │ │ ├── time_measure.h │ │ └── utility.h ├── launch │ └── far_planner.launch ├── package.xml ├── rviz │ ├── default.rviz │ └── matterport.rviz └── src │ ├── contour_detector.cpp │ ├── contour_graph.cpp │ ├── dynamic_graph.cpp │ ├── far_planner.cpp │ ├── graph_msger.cpp │ ├── graph_planner.cpp │ ├── map_handler.cpp │ ├── planner_visualizer.cpp │ ├── scan_handler.cpp │ ├── terrain_planner.cpp │ └── utility.cpp ├── goalpoint_rviz_plugin ├── CMakeLists.txt ├── include │ └── goalpoint_tool.h ├── package.xml ├── plugin_description.xml └── src │ └── goalpoint_tool.cpp ├── graph_decoder ├── CMakeLists.txt ├── config │ └── default.yaml ├── decoder.rviz ├── include │ └── graph_decoder │ │ ├── decoder_node.h │ │ └── point_struct.h ├── launch │ └── decoder.launch ├── package.xml ├── rviz │ └── decoder.rviz └── src │ └── decoder_node.cpp ├── teleop_rviz_plugin ├── CMakeLists.txt ├── package.xml ├── plugin_description.xml └── src │ ├── drive_widget.cpp │ ├── drive_widget.h │ ├── teleop_panel.cpp │ └── teleop_panel.h └── visibility_graph_msg ├── CMakeLists.txt ├── msg ├── Graph.msg └── Node.msg └── package.xml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/README.md -------------------------------------------------------------------------------- /img/control_panel.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/img/control_panel.png -------------------------------------------------------------------------------- /img/indoor.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/img/indoor.gif -------------------------------------------------------------------------------- /img/matterport.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/img/matterport.gif -------------------------------------------------------------------------------- /img/method.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/img/method.png -------------------------------------------------------------------------------- /img/ps3_controller.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/img/ps3_controller.jpg -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/noetic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /src/boundary_handler/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/CMakeLists.txt -------------------------------------------------------------------------------- /src/boundary_handler/config/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/config/default.yaml -------------------------------------------------------------------------------- /src/boundary_handler/include/boundary_handler/graph_extractor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/include/boundary_handler/graph_extractor.h -------------------------------------------------------------------------------- /src/boundary_handler/include/boundary_handler/intersection.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/include/boundary_handler/intersection.h -------------------------------------------------------------------------------- /src/boundary_handler/include/boundary_handler/point_struct.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/include/boundary_handler/point_struct.h -------------------------------------------------------------------------------- /src/boundary_handler/launch/boundary_handler.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/launch/boundary_handler.launch -------------------------------------------------------------------------------- /src/boundary_handler/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/package.xml -------------------------------------------------------------------------------- /src/boundary_handler/rviz/default.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/rviz/default.rviz -------------------------------------------------------------------------------- /src/boundary_handler/src/graph_extractor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/boundary_handler/src/graph_extractor.cpp -------------------------------------------------------------------------------- /src/far_planner/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/CMakeLists.txt -------------------------------------------------------------------------------- /src/far_planner/config/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/config/default.yaml -------------------------------------------------------------------------------- /src/far_planner/config/matterport.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/config/matterport.yaml -------------------------------------------------------------------------------- /src/far_planner/data/boundary.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/data/boundary.ply -------------------------------------------------------------------------------- /src/far_planner/data/boundary_graph.vgh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/data/boundary_graph.vgh -------------------------------------------------------------------------------- /src/far_planner/data/indoor.vgh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/data/indoor.vgh -------------------------------------------------------------------------------- /src/far_planner/data/trajectory.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/data/trajectory.txt -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/contour_detector.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/contour_detector.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/contour_graph.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/contour_graph.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/dynamic_graph.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/dynamic_graph.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/far_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/far_planner.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/graph_msger.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/graph_msger.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/graph_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/graph_planner.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/grid.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/grid.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/intersection.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/intersection.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/map_handler.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/map_handler.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/node_struct.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/node_struct.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/planner_visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/planner_visualizer.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/point_struct.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/point_struct.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/scan_handler.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/scan_handler.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/terrain_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/terrain_planner.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/time_measure.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/time_measure.h -------------------------------------------------------------------------------- /src/far_planner/include/far_planner/utility.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/include/far_planner/utility.h -------------------------------------------------------------------------------- /src/far_planner/launch/far_planner.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/launch/far_planner.launch -------------------------------------------------------------------------------- /src/far_planner/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/package.xml -------------------------------------------------------------------------------- /src/far_planner/rviz/default.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/rviz/default.rviz -------------------------------------------------------------------------------- /src/far_planner/rviz/matterport.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/rviz/matterport.rviz -------------------------------------------------------------------------------- /src/far_planner/src/contour_detector.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/contour_detector.cpp -------------------------------------------------------------------------------- /src/far_planner/src/contour_graph.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/contour_graph.cpp -------------------------------------------------------------------------------- /src/far_planner/src/dynamic_graph.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/dynamic_graph.cpp -------------------------------------------------------------------------------- /src/far_planner/src/far_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/far_planner.cpp -------------------------------------------------------------------------------- /src/far_planner/src/graph_msger.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/graph_msger.cpp -------------------------------------------------------------------------------- /src/far_planner/src/graph_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/graph_planner.cpp -------------------------------------------------------------------------------- /src/far_planner/src/map_handler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/map_handler.cpp -------------------------------------------------------------------------------- /src/far_planner/src/planner_visualizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/planner_visualizer.cpp -------------------------------------------------------------------------------- /src/far_planner/src/scan_handler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/scan_handler.cpp -------------------------------------------------------------------------------- /src/far_planner/src/terrain_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/terrain_planner.cpp -------------------------------------------------------------------------------- /src/far_planner/src/utility.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/far_planner/src/utility.cpp -------------------------------------------------------------------------------- /src/goalpoint_rviz_plugin/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/goalpoint_rviz_plugin/CMakeLists.txt -------------------------------------------------------------------------------- /src/goalpoint_rviz_plugin/include/goalpoint_tool.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/goalpoint_rviz_plugin/include/goalpoint_tool.h -------------------------------------------------------------------------------- /src/goalpoint_rviz_plugin/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/goalpoint_rviz_plugin/package.xml -------------------------------------------------------------------------------- /src/goalpoint_rviz_plugin/plugin_description.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/goalpoint_rviz_plugin/plugin_description.xml -------------------------------------------------------------------------------- /src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp -------------------------------------------------------------------------------- /src/graph_decoder/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/CMakeLists.txt -------------------------------------------------------------------------------- /src/graph_decoder/config/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/config/default.yaml -------------------------------------------------------------------------------- /src/graph_decoder/decoder.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/decoder.rviz -------------------------------------------------------------------------------- /src/graph_decoder/include/graph_decoder/decoder_node.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/include/graph_decoder/decoder_node.h -------------------------------------------------------------------------------- /src/graph_decoder/include/graph_decoder/point_struct.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/include/graph_decoder/point_struct.h -------------------------------------------------------------------------------- /src/graph_decoder/launch/decoder.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/launch/decoder.launch -------------------------------------------------------------------------------- /src/graph_decoder/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/package.xml -------------------------------------------------------------------------------- /src/graph_decoder/rviz/decoder.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/rviz/decoder.rviz -------------------------------------------------------------------------------- /src/graph_decoder/src/decoder_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/graph_decoder/src/decoder_node.cpp -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/CMakeLists.txt -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/package.xml -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/plugin_description.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/plugin_description.xml -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/src/drive_widget.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/src/drive_widget.cpp -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/src/drive_widget.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/src/drive_widget.h -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/src/teleop_panel.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/src/teleop_panel.cpp -------------------------------------------------------------------------------- /src/teleop_rviz_plugin/src/teleop_panel.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/teleop_rviz_plugin/src/teleop_panel.h -------------------------------------------------------------------------------- /src/visibility_graph_msg/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/visibility_graph_msg/CMakeLists.txt -------------------------------------------------------------------------------- /src/visibility_graph_msg/msg/Graph.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/visibility_graph_msg/msg/Graph.msg -------------------------------------------------------------------------------- /src/visibility_graph_msg/msg/Node.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/visibility_graph_msg/msg/Node.msg -------------------------------------------------------------------------------- /src/visibility_graph_msg/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MichaelFYang/far_planner/HEAD/src/visibility_graph_msg/package.xml --------------------------------------------------------------------------------